We investigate the control of constrained stochastic linear systems when faced with only limited information regarding the disturbance process, i.e. when only the first two moments of the disturbance distribution are known. We consider two types of distributionally robust constraints. The constraints of the first type are required to hold with a given probability for … Read more
We study the computational complexity certification of inexact gradient augmented Lagrangian methods for solving convex optimization problems with complicated constraints. We solve the augmented Lagrangian dual problem that arises from the relaxation of complicating constraints with gradient and fast gradient methods based on inexact first order information. Moreover, since the exact solution of the augmented … Read more
In this paper we propose a parallel coordinate descent algorithm for solving smooth convex optimization problems with separable constraints that may arise e.g. in distributed model predictive control (MPC) for linear network systems. Our algorithm is based on block coordinate descent updates in parallel and has a very simple iteration. We prove (sub)linear rate of … Read more
We show that for continuous time dynamical systems described by polynomial differential equations of modest degree (typically equal to three), the following decision problems which arise in numerous areas of systems and control theory cannot have a polynomial time (or even pseudo-polynomial time) algorithm unless P=NP: local attractivity of an equilibrium point, stability of an … Read more
The low-rank solutions of continuous and discrete Lyapunov equations are of great importance but generally difficult to achieve in control system analysis and design. Fortunately, Mesbahi and Papavassilopoulos [On the rank minimization problems over a positive semidefinite linear matrix inequality, IEEE Trans. Auto. Control, Vol. 42, No. 2 (1997), 239-243] showed that with the semidefinite … Read more
We present an approach for nonlinear programming (NLP) based on the direct minimization of an exact di erentiable penalty function using trust-region Newton techniques. As opposed to existing algorithmic approaches to NLP, the approach provides all the features required for scalability: it can eciently detect and exploit directions of negative curvature, it is superlinearly convergent, and … Read more
We address the long-standing problem of computing the region of attraction (ROA) of a target set (typically a neighborhood of an equilibrium point) of a controlled nonlinear system with polynomial dynamics and semialgebraic state and input constraints. We show that the ROA can be computed by solving a convex linear programming (LP) problem over the … Read more
In this paper, we address the optimal energy storage management and sizing problem in the presence of renewable energy and dynamic pricing. We formulate the problem as a stochastic dynamic programming problem that aims to minimize the long-term average cost of conventional generation used as well as investment in storage, if any, while satisfying all … Read more
We consider a time-optimal problem for the Reeds and Shepp model describing a moving point on a plane, with a onesided variation of the speed and a free final direction of velocity. Using Pontryagin Maximum Principle, we obtain all possible types of extremals and, analyzing them and discarding nonoptimal ones, construct the optimal synthesis. Citationhttp://link.springer.com/article/10.1007/s10957-013-0286-8
This paper proposes a new algorithm for linear system identification from noisy measurements. The proposed algorithm balances a data fidelity term with a norm induced by the set of single pole filters. We pose a convex optimization problem that approximately solves the atomic norm minimization problem and identifies the unknown system from noisy linear measurements. … Read more